The 3rd International Conference on Computational Mechanics and Virtual Engineering COMEC 2009 29 30 OCTOBER 2009, Brasov, Romania

SOME MECHANICAL DESIGN ELEMENTS

1

F.I. Petrescu1, B. Grecu1, A. Comnescu1, R.V. Petrescu1,

Bucharest Polytechnic University, Bucharest, ROMANIA, petrescuflorian@yahoo.com

Abstract: The paper presents first (1.) an original geometric method for the study of geometry and determining positions of RRR dyad. One uses one geometric relation and a second trigonometric expression as well. The advantage of this original method consists in the direct determination of mechanism (dyad) position. One must indicate only the position of internal couple C of the dyad (North or South). Second (2.) one presents shortly the MP-3R inverse kinematics solved by an original method. Then the V engine (3.) and geared transmission (4.) design. Keywords: RRR dyad geometry, robot inverse kinematics, V engine, geared transmission

1. THE GEOMETRY OF RRR DYAD

One presents shortly an original geometric method to determine the positions of the RRR dyad (see the figure 1). Vector equations are written in the form (1, 2) and put in the form (3, 4). One square up and gather the equations of systems 3 respectively 4, and resulting the forms 5 and 6 which is dissolved in 5 and 6 (system 7).

xC = xB + d cos (1) yC = yB + d sin ( xC xB ) 2 + ( yC y B ) 2

xC = xD + b cos xC xB = d cos xC xD = b cos (2) (3) (4) yC = yD + b sin yC y B = d sin yC yD = b sin = d2 (5) ( xC xD ) 2 + ( yC yD ) 2 = b 2 (6)
(7)

2 2 2 2 2 xC + xB 2 xB xC + yC + y B 2 y B yC = d (5' ) x 2 + x 2 2 x x + y 2 + y 2 2 y y = b 2 (6' ) C D D C C D D C
By reduced equation 5 from 6 one obtains the relation 8, which takes the form 9.
2 2 2 2 xD xB + 2 ( xB xD ) xC + y D y B + 2 ( y B y D ) yC = b 2 d 2

(8) (9)

( xB xD ) xC + ( y B y D ) yC =

b d + x x + y y 2
2 2 2 B 2 D 2 B

2 D

On the other hand we can write the relations 10 and 11:

sin( ) = sin cos sin cos =

sin C =

yC y D xC xB yC yB xC xD b d d b (b + c + d ) (b + c d ) (b + d c) (c + d b) = 2b d 2b d

(10) (11)

When the point C is located at north (see the figure 1), C = - , sin C = sin( ) , and equaling 10 and 11 one obtains the forms 12, 13, 14 and 15.

xC yC yD xC xB yC + xB yD xC yC + y B xC + xD yC xD yB =

(12)

( yB y D ) xC + ( xD xB ) yC + xB y D xD yB =

(13)

C (at North)

d B c D b

C (at South)

Figure 1: The RRR dyad geometry When the point C is located at south, (13):

C = , sin C = sin( ) , and the relation (13) takes the form

(13)

( yB yD ) xC + ( xD xB ) yC + xB yD xD y B =
Now, one can write the generalized relationship (14), with and () when C is located at South.

sign; one takes the sign (+) when C is located at North

(14) (15)

( yB yD ) xC + ( xD xB ) yC + xB yD xD y B = ( yB y D ) xC + ( xD xB ) yC = 2

xB y D + xD y B

We maintain only the relations 9 and 15, which form the system 16.
2 2 2 2 b 2 d 2 + xB xD + y B y D ( xB xD ) xC + ( y B y D ) yC = 2 ( y y ) x ( x x ) y = + x D y B xB y D D C B D C B 2

(16)

With the notation (17) the system (16) takes the form (18).

A = xB x D B = y y B D 2 2 2 2 2 b d 2 + xB xD + y B y D C = 2 (b + c + d ) (b + c d ) (b + d c) (c + d b) D = + xD y B x B y D 2 A xC + B yC = C B xC A yC = D
The linear system (18) will be solved directly (19-22):

(17)

(18)

= A2 B 2 = ( A2 + B 2 )

(19)

B A

x =

= A C B D = ( A C + B D )

(20)

D A A B xC = C D yC = y = B C A D A2 + B 2
(22)

y =

= A D B C = ( B C A D )

(21)

x AC + B D = A2 + B 2

One has determined first the Cartesian coordinates of the point C, and then we can find the two angles,

and

(see the relations 23).

x xB y yB x xD y yD ; sin = C ; cos = C ; sin = C cos = C d d b b = sign(sin ) arccos(cos ); = sign(sin ) arccos(cos );

2. THE MP-3R INVERSE KINEMATICS

(23)

One presents shortly an original method to solve the robot inverse kinematics exemplified at the 3R-Robots (MP3R). The system which must be solved (2.4) has three equations (2.1-2.3) and three independent parameters ( 10 ,

20 , 30 ) to determine. See the figure 2 and [1].

y3 a3 B d3 O3 30 x3 d2 z0, z1 y1 O1 a1 O0 z2 d1 A y2 20 a2 O2 x1 x2 y0 M yM
zM xM

z3

x0

10

10 = 10 21 = 20 32 = 30 20

Figure 2: The geometry of 3R Robot (MP)

xM = d1 cos 10 a2 sin 10 + d 2 cos 20 cos 10 a3 sin 10 + d 3 cos 30 cos 10 (2.1) yM = d1 sin 10 + a2 cos 10 + d 2 cos 20 sin 10 + a3 cos 10 + d 3 cos 30 sin 10 (2.2) (2.4) z = a + d sin + d sin (2.3) 1 2 20 3 30 M

sin 10 and the relation (2.2) with cos 10 ; then add the two resulting relations and one obtains the relation (2.5)
with solutions (2.6) for the first independent parameter 10 .

We aim to solve the system directly obtaining accurate solutions. At first step one multiplies the equation (2.1) with

 xM sin10 + yM cos 10 = a2 + a3

(2.5)

2 2 (a + a ) y xM xM + yM (a2 + a3 ) 2 cos 10 = 2 3 M 2 2 xM + y M (2.6) 2 2 (a2 + a3 ) xM yM xM + yM (a2 + a3 ) 2 sin 10 = 2 2 xM + y M Now one multiply the equation (2.1) with cos 10 and the relation (2.2) with sin 10 ; one add the two resulting

relations and obtains the relation (2.7), which form with (2.3) a new system (2.8) who generate the last two independent parameters

20 and 30 .
(2.8)

xM cos 10 + yM sin 10 d1 = d 2 cos 20 + d 3 cos 30 (2.7) z a = d sin + d sin (2.3) M 1 2 20 3 30

One use the notations (2.9) and obtains for the system (2.8) the exactly solutions (2.10).

C1 = xM cos 10 + yM sin 10 d1 C2 = z M a1 2 2 2 2 k = C1 + C2 + d 2 d 3 2 2 2 k C1 C2 4 C12 d 2 + 4 C2 d 2 k 2 cos 20 = 2 2 (C12 + C2 ) d 2 2 2 2 k C2 C1 4 C12 d 2 + 4 C2 d 2 k 2 sin 20 = 2 2 (C12 + C2 ) d 2 C1 d 2 cos 20 cos 30 = d3
Finally one keeps the three solutions (2.11):
2 2 (a2 + a3 ) yM xM xM + yM (a2 + a3 ) 2 cos 10 = 2 2 xM + y M 2 2 2 k C1 C2 4 C12 d 2 + 4 C2 d 2 k 2 cos 20 = 2 2 (C12 + C2 ) d 2 C1 d 2 cos 20 cos 30 = d3

(2.9)

(2.10)

(2.11)

3. THE V ENGINE DESIGN

One just remembers about an original method to solve the kinematics and dynamics of V engines. The calculations can be seen in [2] and the issues in [3]. The geometry of V engine is presented in figure 3. The V Motors kinematics and dynamics synthesis can be made optimally by the value of constructive angle (). For this reason, as generally constructive value angle was chosen randomly, after various technical requirements constructive or otherwise, inherited or calculated by various factors (more or less essential), but never got to discuss crucial factor (which takes account of the intimate physiology of the mechanism) angle that is constructive with his immediate influence on the overall dynamics of the mechanism, the actual dynamics of the mechanism with the main engine in the V suffered, the noise and vibration are generally higher compared with the similar engines in line. This paper aims to make a major contribution to remedy this problem so that the engine in V can be optimally designed and its dynamic behavior in the operation to become blameless, higher than that of similar engines in line. In the picture number 3 one can see the kinematics schema of the V Engine. The crank 1 has a trigonometric rotation () and

actions the connecting-rod 2 which moves the piston 3 along the slide bar B and actions the second connecting-rod 4, which moves the second piston 5 along the slide bar D. There is a constructive angle between the two axes B and D.

D FD FCn D

FCm 4 b +

- C 2 B a FCm FBm l FB A /2 r O 1 3

FCn

Fm

/2++- /2--

||B

FBm /2

2006 Florian PETRESCU The Copyright-Law Of March, 01, 1989, U.S. Copyright Office Library of Congress Washington, DC 20559-6000 202-707-3000

V Motors Kinematics and Dynamics Synthesis by the Constructive Angle Value (); Forces Distribution, Angles, Elements and Couples (Joints) Positions; a+b=l

Figure 3: The geometry of V engine The same constructive angle () is formed by the two arms of the connecting-rod 2; first arm has the length l, and the second (which transmits the movement to the second connecting-rod 4) has the length a; this length a, add with the length b of the second connecting-rod 4 must gives the length l of the first connecting-rod. The crank motor force Fm is perpendicular at the crank length r, in A. A part of it (FBm) is transmitted to the first arm of connecting-rod 2 (along l) towards the first piston 3. Another part of the motor force, (FCm) is transmitted towards the second piston 5, by (along) the second arm of first connecting-rod 2 (a). A percent (of motor force Fm) x is transmitted towards the first piston (element 3) and the percent y is transmitted towards the second piston (element 5); the sum between x and y is 1 or 100%. The dynamic velocities have the same direction like forces. From the element 2 (first arm) to the first piston (element 3) one transmits the force FB and the dynamic velocity vBD. To force the first piston velocity equalises the dynamic value, one introduces a dynamic coefficient DB. The second Motor outline can be solved now. In C, FCm and vCm are projected in FCn and vCn. The transmitted force along of the second connecting-rod (FCn) is projected in D on the D axe in FD. One determines the dynamic coefficient in D, DD. One put the condition to have a single dynamic coefficient of the mechanism, D=DB=DD. The value of x was determined from the imposed condition to have a single dynamic coefficient for the mechanism. The dynamic analysis made with the presented systems indicates some good values for the constructive angle (), which allow the motor in V works normally without vibrations, noises and shocks (see the table 1): Table 1: Alfa angle values in grad

[grad] 08 12 17 23 25

[grad] 155 156 164 167 173 179

With indicate in the table 1 one can make V Engine work without vibrations. The values presented in the table are not convenient for the motor makers; one can correct them with the relations presented in [2].

4. GEARED TRANSMISSIONS DESIGN

One just remembers about an original method to solve the kinematics and dynamics of geared transmissions (see [4], figure 4, and the relation 4.1). In this paper one makes a brief presentation of an original method to obtain the efficiency of the geared transmissions in function of the cover grade. With the presented relations one can make the dynamic synthesis of the geared transmissions having in view increasing the efficiency of gearing mechanisms in work [4].
2005 Florian Ion PETRESCU The Copyright Law Of March 01, 1989 U.S. Copyright Library of Congress Washington, DC 20559-6000 202-707-3000

O2 Fl, vl rb2 Fml, vml K2 l k rl1 rk1 rj1 A j i ri1 j i rb1 O1 K1 Fmi, vmi Fi, vi

Figure 4: Four pairs of teeth in contact concomitantly.

m =

1 2 tg 0 2 (12 1) (2 12 1) (12 1) 1 + tg 0 + 2 z1 3 z1
2 2

(4.1)

5. CONCLUSION
Today industrial machines construction requires new technologies of manufacturing which require a permanently renewed fundamental research. The presented elements of industrial machines (mechanical) design are trying to fit these requirements.

REFERENCES
[1] Antonescu P.: Mecanisme i manipulatoare, Editura Printech, Bucharest, 2000, p. 103-104. [2] Petrescu F.I., Petrescu R.V.: V Engine Design, ICGD2009, Vol. Ib, p. 533-536, ISSN 1221-5872, Cluj-Napoca, 2009. [3] Petrescu F.I., Petrescu R.V.: Designul motoarelor n V, Revista Ingineria Automobilului, Nr. 11, iunie 2009, p. 1112, ISSN 1842-4074, 2009. Petrescu F.I., Petrescu R.V.: Designul motoarelor n V, Revista Ingineria Automobilului, Nr. 11, iunie 2009, p. 11-12, ISSN 1842-4074, 2009. [4] Petrescu R.V., Petrescu F.I.: Geared Transmissions Design, ICGD2009, Vol. Ib, p. 541-544, ISSN 1221-5872, ClujNapoca, 2009.